L.W.
I constantly see the same concerns, and everytime I notice the parents are continuing to pick up the child and have them sleep with them. The only way to achieve this is to stop picking him up and bringing him too your room. The older he gets the harder it is going to be to break him. Therefore, next time he wakes up do not pick him up and bring him to the room, he needs to learn that bed time is in his own bed. He is going to cry and throw a tantrum for a few days, and believe me it will be hard on you, but in the end, it is worth it for him to achieve independence when it is time to sleep. The show Supernanny has really good tips on this. As several parents on that show have had the same problem. She has very good techniques. By bringing him to your bed is making it hard on you and him, you all need to get a good sleep everynight.
We have never brought our son in the bed, don't get me wrong it has been trying sometimes, and picking him up out of the bed seems like the easiest solution when your soo tired, but now he is 20 months, and sleeps from 7 pm to 7:30 am and has been since he was 6 months or so. With no problem, it took consistency and patience, but it does work.
I hope this helps, and I don't sound mean.